• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    Device for recording the natural head position (nhp) of an individual by means of an inertial measurement unit (imu) and method associated with said device, which allows to establish a relationship between the position of the head in the images obtained by usual radiological techniques and nhp to optimize the planning and execution of interventions. The device comprises a first support (1) intended to be supported, by its outer edge (4) covered by a mold (6) between the jaws of the individual, on which a second support (2), which contains a plurality, is disposed. Of radiopaque references (4), sized to accommodate an imu unit (3) of small size. An external control unit (7) receives, stores and processes the measurements obtained by the imu (3) of the device. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2615167A1
    申请号:ES201531766
    申请日:2015-12-04
    公开日:2017-06-05
    发明作者:José María GARCÍA RIELO；Beatriz ÁLVAREZ SUÁREZ
    申请人:José María GARCÍA RIELO；Beatriz ÁLVAREZ SUÁREZ；
    IPC主号:
    专利说明:

    DEVICE FOR REGISTRATION OF THE NATURAL POSITION OF THE HEAD OF AN INDIVIDUAL THROUGH INERCIAL MEASUREMENT UNIT (IMU) AND METHOD
    ASSOCIATED
    5 DESCRIPTION
    OBJECT OF THE INVENTION
    The present invention falls within the technical field of measuring devices 10 to evaluate the shape, configuration, size or movement of the body or its parts, and refers in particular to a device for recording the natural position of the head of an individual through an inertial measurement unit, as well as the method of recording the natural position of the head associated with said device.
    15 BACKGROUND OF THE INVENTION
    The natural position of the head, or NHP for its acronym in English, is that position in which an individual's head is when its visual plane, said individual being relaxed and standing, is horizontal and parallel to the ground. This position, referring to the physiological relationship of the skull with the cervical spine, is influenced by muscular posture and responds to physiological and environmental conditions. The determination of the NHP is essential when facing certain surgeries in the cranio-maxillo-facial territory, to ensure an optimal result.
    25 However, in normally used diagnostic imaging techniques, such as magnetic resonance imaging, radiography or tomography, the individual's head is immobilized in a position that does not usually coincide with the natural one, and, consequently, the computerized three-dimensional image that This is not correlated with this natural position, which is a disadvantage for the healthcare professional when planning and executing an intervention.
    On the other hand, an inertial measurement unit, or IMU for its acronym in English, is an electronic device that measures and informs about the speed, orientation and gravitational forces of a body, using a combination of accelerometers and gyroscopes.
    It is usually used in inertial navigation systems of airplanes, spacecraft, ships, missiles, etc., and works by detecting, on the one hand, the acceleration rate through accelerometers and, on the other, changes in rotational attributes such as pitching (pitch) , warping (roll) and guinate (yaw), corresponding to the three spatial axes of a Cartesian system.
    An IMU unit usually consists of a container that contains three accelerometers and three gyroscopes. The accelerometers are arranged so that their measurement axes are orthogonal to each other, while the gyros are placed following a similar orthogonal pattern.
    DESCRIPTION OF THE INVENTION
    The object of the invention is a device for recording the natural position of the head of an individual based on the use of an inertial measurement unit, hereafter referred to as IMU, as well as the method of recording the natural position of the head associated with said device, with the aim of transferring information about a certain position of the head, preferably the natural position or NHP, of the real environment to a virtual three-dimensional one.
    twenty
    For this, the device comprises a first support of the assembly, intended to be supported by the individual, on which a second support is arranged to accommodate an IMU unit of reduced dimensions. The second support contains units, preferably small spheres, made of radiopaque materials.
    25
    The first support preferably has dimensions and geometry such that it allows it to be held by the individual by biting between the upper and lower jaws, since the upper jaw does not present any voluntary or involuntary oscillation with respect to the skull, which allows to fix a position with High level of 30 precision. The area of said first support intended to come into contact with the teeth has a coating made of materials with a plasticity such that they first facilitate a comfortable hold, and secondly allow the registration of the bite by marking on its surface. Such materials comprise waxes or plastic materials of the type commonly used to record the bite in
    dental and maxillofacial surgery.
    The second support is arranged on the first, and has a geometry and dimensions that allow it to accommodate an IMU unit. Said second support comprises, uniformly distributed by its geometry, a plurality of structures made of radiopaque materials, preferably spheres, so that its position is recorded and referenced in diagnostic images obtained by radiological techniques.
    With the device thus described, a procedure for registering the natural position of the head 10 is performed, prior to obtaining virtual three-dimensional images, to allow establishing a relationship between the position of the individual's head in said images and the NHP.
    In the first place, it is necessary to reset the IMU unit, said unit being in a position such that two of its axes (pitch and roll) are parallel to the axes that define the ground plane, and its third axis ( yaw) is parallel to the direction in which the individual looks, so that the value recorded by the IMU in that position is zero.
    20 At that time, and with the IMU mounted on the device, it is introduced into the mouth of the individual, being held between their jaws. In this way the individual bites the surface of the first support coated by the plastic material. Once the head is stabilized in the desired position, in this case the NHP, a control unit wirelessly records the values measured by the IMU for each of its three axes in said position.
    In the next stage, the device is removed from the mouth of the individual, from which the IMU unit is disassembled, and reintroduced between the jaws, having on this occasion the reference of the bite marks registered in the previous step, of 30 so that it is placed in the position corresponding to the registered NHP.
    With the device placed in this way in the mouth, imaging is performed by radiological techniques, preferably tomographs, in which the radiopaque references contained in the second support, which mark a plane, will be visible
    corresponding to the NHP.
    The images thus obtained are subjected to computer processing by means of specific software, reconstructing three-dimensionally in a virtual environment. In said virtual environment, the points corresponding to the radiopaque references define a plane and an axis system (yaw, pitch and roll). This axis system is granted the values registered by the IMU corresponding to the NHP, which automatically obtains the orientation of the patient's head in the virtual environment in relation to the measured position, in the real environment, with the patient's head in NHP, or in the 10 position you want to study.
    The device described above, and the method to the associate, suppose a simple and precise solution to register and transfer the position of the head of an individual from a real environment to a virtual one, allowing to optimize the planning and execution of 15 studies and interventions .
    DESCRIPTION OF THE DRAWINGS
    To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, in accordance with a preferred example of practical realization thereof, a set of said description is attached as an integral part of said description. Drawings where the following has been illustrated and not limited to:
    25 Figure 1.- Shows a perspective view of the complete device, in which its main constituent elements are appreciated.
    Figure 2.- Shows a plan view of the device, to which the IMU unit has been removed to appreciate the radiopaque spheres contained in the second device support.
    30
    PREFERRED EMBODIMENT OF THE INVENTION
    Next, a detailed explanation of an example of preferred embodiment of the object of the present invention is provided with the aid of the aforementioned figures
    invention.
    The device for recording the natural position of the head of an individual by means of an inertial measurement unit (IMU) described comprises a first support (1), with dimensions and geometry such that it can be held between the jaws of an individual as shown in figure 1, on which a second support (2) is provided sized to accommodate an IMU unit (3) of reduced size. The second support (2) contains in its base four radiopaque spheres (4) of small dimensions, arranged with the orthogonal configuration shown in Figure 2.
    10
    The first support (1) comprises an outer edge (5) intended to be the area for holding the device by bite, so it is covered by a mold (6) made of high plasticity materials such as bite wax. Said mold (6) facilitates the individual to hold the device between their jaws in a comfortable manner, granting additional protection to the teeth with which they contact, and also allows the registration of the bite made in the desired position.
    Finally, an external control unit (7) receives, stores and processes the measurements obtained by the IMU (3).
    twenty
    The device thus described is associated with an operative method for recording the natural position of the head of the individual under study, prior to obtaining three-dimensional virtual images, so that a correction of said images can be made to reference them to the NHP
    25
    The previous step of the operating method consists in resetting or resetting the IMU unit (3), for which it is placed so that two of its axes (pitch and roll) are parallel to the axes that define the plane of the ground, and its third axis (yaw) is parallel to the direction in which the individual looks, so that the value recorded by the IMU unit (3) in said position is zero, thus determining an origin of the coordinate system.
    Once the IMU unit (3) has been set up, the operating method associated with the device begins, which comprises the following steps:
    5
    10
    fifteen
    twenty
    25
    - introduction of the device into the mouth of the individual, being held between the jaws by the outer edge (5) of the first support (1),
    - stabilization of the head in the NHP,
    - recording in the control unit (7) of the values measured at that time by IMU unit (3), transmitted wirelessly,
    - extraction of the device from the mouth of the individual and removal of the IMU unit
    (3),
    - placing the device in the mouth of the individual, in a position corresponding to the position previously registered by the bite of the mold (6) in coincidence with the NHP position, and
    - taking radiological images, in which the radiopaque spheres (4) of the second support (2) of the device are visible.
    The images obtained are subjected to treatment by specific software. In these images, some points appear, corresponding to the four radiopaque spheres (4), which are used to define a reference plane and a Cartesian axis system associated to said plane. The values registered in the control unit (7) from the IMU unit (3) and corresponding to the NHP position are transferred to these axes, which automatically obtain the orientation of the individual's head in the virtual environment. three-dimensional, allowing to establish a relationship with the NHP position of the head in the real environment.
    权利要求:
    Claims (5)
    [1]
    1. Device for recording the natural position of the head of an individual characterized in that it comprises:
    5
    - a first support (1), with dimensions and geometry suitable to be held between the jaws of a patient,
    - a second support (2), which contains a plurality of radiopaque references (4), located on the first support (1),
    10 - an IMU unit (3) of reduced size, located on the second support (2), and
    - an external control unit (7) that receives, stores and processes the measurements obtained by the IMU (3).
    [2]
    2. Device for recording the natural position of the head according to claim 1 characterized in that the first support (1) additionally comprises a
    outer edge (5) intended to be the area of attachment in the mouth of the individual.
    [3]
    3. Device for recording the natural position of the head according to claim 2 characterized in that the outer edge (5) comprises a coating
    20 of a mold (6) made of high plasticity materials for bite registration.
    [4]
    4. Device for recording the natural position of the head according to claim 3 characterized in that the mold material (6) is wax.
    25
    [5]
    5. Device for recording the natural position of the head according to claim 1 characterized in that the radiopaque references (4) have spherical geometry.
    30 6. Procedure for recording the natural position of the head of an individual, who does
    use of the device described in claim 3, characterized in that it comprises the following sequence of actuation:
    - zeroing of the IMU unit (3), corresponding with a position of
    5
    10
    fifteen
    twenty
    25
    30
    35
    said IMU unit (3) in which two of its three spatial axes of measurement are parallel to the axes that define the ground plane, and its third axis is parallel to the direction in which the individual looks, thus determining an origin of a three-dimensional Cartesian coordinate system,
    - introduction of the device in the mouth of an individual, being held between the jaws by the outer edge (5) of the first support (1),
    - stabilization of the individual's head in a position corresponding to the natural position of the head or NHP,
    - wireless registration in the control unit (7) of some values measured at that time per IMU unit (3), corresponding with some deviations from the origin of the three-dimensional Cartesian coordinate system determined in the first stage that determine the position of the head of the individual in NHP position,
    - extraction of the device from the mouth of the individual and removal of the IMU unit
    (3),
    - placing the device without the IMU unit (3) in the mouth of the individual, in a position corresponding to that previously registered on the outer edge (5), coinciding with the NHP position of the individual's head,
    - taking pictures, in which the radiopaque references (4) of the second support (2) of the device are visible,
    - definition of a plane and axis system based on points determined by the position of the radiopaque spheres (4) in the images obtained,
    - three-dimensional reconstruction, in a virtual environment, of the individual's head based on the images obtained, the plane and the axis system,
    - translation of the values registered in the control unit (7), from the IMU unit (3) and corresponding to the position of the head of the
    individual in NHP position, to the axis system, and
    reorientation of the virtual three-dimensional reconstruction obtained based on the values of the axis system so that it is oriented according to the NHP position.
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    同族专利:
    公开号 | 公开日
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2001080763A2|2000-04-27|2001-11-01|Align Technology, Inc.|Systems and methods for generating an appliance with tie points|
    US20070190481A1|2006-02-15|2007-08-16|Dental Implant Technologies, Inc.|Method For Making A Virtual Computer Model of the Jaws|
    US20110320153A1|2010-06-23|2011-12-29|Mako Surgical Corp.|Inertially Tracked Objects|
    WO2014114967A1|2013-01-25|2014-07-31|WENNER, Fabian|Self-calibrating motion capture system|
    法律状态:
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    ES201531766A|ES2615167B1|2015-12-04|2015-12-04|DEVICE FOR REGISTRATION OF THE NATURAL POSITION OF THE HEAD OF AN INDIVIDUAL THROUGH INERTIAL MEASUREMENT UNITAND ASSOCIATED METHOD|ES201531766A| ES2615167B1|2015-12-04|2015-12-04|DEVICE FOR REGISTRATION OF THE NATURAL POSITION OF THE HEAD OF AN INDIVIDUAL THROUGH INERTIAL MEASUREMENT UNITAND ASSOCIATED METHOD|
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